WO2021080176A1 - Wireless magnetic sensor module - Google Patents
Wireless magnetic sensor module Download PDFInfo
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- WO2021080176A1 WO2021080176A1 PCT/KR2020/012301 KR2020012301W WO2021080176A1 WO 2021080176 A1 WO2021080176 A1 WO 2021080176A1 KR 2020012301 W KR2020012301 W KR 2020012301W WO 2021080176 A1 WO2021080176 A1 WO 2021080176A1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R33/00—Arrangements or instruments for measuring magnetic variables
- G01R33/0047—Housings or packaging of magnetic sensors ; Holders
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R33/00—Arrangements or instruments for measuring magnetic variables
- G01R33/007—Environmental aspects, e.g. temperature variations, radiation, stray fields
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R33/00—Arrangements or instruments for measuring magnetic variables
- G01R33/02—Measuring direction or magnitude of magnetic fields or magnetic flux
- G01R33/06—Measuring direction or magnitude of magnetic fields or magnetic flux using galvano-magnetic devices
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- the present invention relates to a wireless magnetic sensor, and more particularly, to a wireless magnetic sensor module capable of detecting an operating position or a moving position of a piston in a cylinder of a robot arm and transmitting it wirelessly.
- Various cylinders such as pneumatic cylinders and hydraulic cylinders are provided in robot arms used in the assembly process of automobiles, and magnetic sensors are widely used to detect and control the motion of such cylinders.
- a magnetic sensor such as a reed switch and a wired contact detection method have been widely used, but recently, magneto resistance.
- a non-contact sensor such as a sensor and a low-power wireless communication method.
- Patent Document 1 As an example of a system using a magnetic sensor, according to Korean Patent Publication No. 1999-0064441 (Patent Document 1), it is proposed to configure a cylinder piston detection switch using a non-contact type magnetoresistive sensor. As another example, according to Korean Patent Registration No. 10-1793209 (Patent Document 2), using a user terminal to remotely monitor a jig used in automobile manufacturing, and to control a control panel using the user terminal, A remote jig control system using a wireless magnetic sensor is proposed.
- the conventional devices using the magnetic sensor described above are difficult to install in various types of cylinders due to the large size of the magnetic sensor module, and the protection from external shocks or static electricity generated from the equipment is not sufficient.
- the magnetic sensor circuit could not be sufficiently protected from static electricity in the form of ZAP, Latch-Up, and CDM (Charge Device Model) caused by impulse noise generated during electric welding, which is essential in the automobile assembly process.
- An object of the present invention is to provide a wireless magnetic sensor module that can be configured with a small size and low cost, and that can be safely protected from external shocks and static electricity.
- Another object of the present invention is to provide a wireless magnetic sensor module capable of increasing the reliability of wireless communication of data detected by the magnetic sensor.
- Magnetic sensor unit for detecting a moving state or position of an object according to the present invention in order to solve the above technical problem;
- a wireless communication unit for receiving the signal detected by the magnetic sensor unit and transmitting it wirelessly;
- a battery unit supplying power to the magnetic sensor unit and the wireless communication unit, wherein the magnetic sensor unit is formed in a double structure by attaching the first and second PCBs facing each other, and the surface of the first PCB
- a wireless magnetic field characterized in that a sensor is fixedly installed, and a notch is formed in a portion of the second PCB corresponding to a position where the magnetic sensor of the first PCB is installed, so that the magnetic sensor is exposed to the outside.
- a four-sided dividing pad on the main chipset of the wireless communication unit to prevent soldering cracks due to mechanical shock generated during cylinder operation. It is preferable that the two magnetic sensor units are connected.
- the magnetic sensor is preferably a magneto-resistance sensor
- the wireless communication unit is preferably a low-power Bluetooth (BLE) communication.
- the wireless communication unit packetizes the signal detected from the magnetic sensor unit and repeatedly transmits it at random cycles.
- the present invention is a magnetic sensor unit for detecting the movement state or position of the object; A wireless communication unit for receiving the signal detected by the magnetic sensor unit and transmitting it wirelessly; And a battery unit for supplying power to the magnetic sensor unit and the wireless communication unit, wherein the magnetic sensor unit is formed in a double structure by attaching a PCB and a non-PCB device facing each other, and a magnetic sensor is provided on the surface of the PCB.
- a wireless magnetic sensor module characterized in that a notch is formed in a portion of the fixture other than the PCB that corresponds to the position where the magnetic sensor of the PCB is installed, so that the magnetic sensor is exposed to the outside. to provide.
- the module can be miniaturized and manufacturing cost can be reduced.
- the data reception rate can be increased even when a plurality of wireless communication units communicate simultaneously.
- FIG. 1 schematically shows the configuration of a wireless magnetic sensor module according to an embodiment of the present invention.
- FIG. 2 schematically shows a dual PCB structure of a magnetic sensor unit in a wireless magnetic sensor module according to an embodiment of the present invention.
- FIG 3 is a cross-sectional view illustrating a PCB design of a magnetic sensor unit in a wireless magnetic sensor module according to an embodiment of the present invention.
- FIG. 4 shows a photograph of an actual prototype of the magnetic sensor unit 100 in the wireless magnetic sensor module according to an embodiment of the present invention.
- FIG. 5 shows a four-sided split pad attached to a main chipset in the wireless magnetic sensor module according to an embodiment of the present invention.
- FIG. 6 is a diagram illustrating packetization of data in a wireless magnetic sensor module according to an embodiment of the present invention and repetitive transmission at a random period.
- the present invention is a wireless magnetic sensor module for detecting a moving state or moving position of a piston in a cylinder used for a robot arm with a magnetic sensor and transmitting the detected signal wirelessly. I got it.
- the wireless magnetic sensor module 10 of the present invention includes a magnetic sensor unit 100, a wireless communication unit 200, and a battery unit 300.
- the magnetic sensor unit 100 detects a moving state or position of a moving object, such as a piston of a cylinder, and transmits the detected signal to the wireless communication unit 200.
- a moving state or position of a moving object such as a piston of a cylinder
- the wireless communication unit 200 is composed of a communication circuit that functions to wirelessly transmit a signal detected from the magnetic sensor unit 100 to an external system, and includes ZigBee, WiFi, and Bluetooth Low Energy (BLE). Energy) can be used.
- the wireless communication unit 200 is configured using BLE.
- the battery unit 300 supplies power to the magnetic sensor unit 100 and the wireless communication unit 200, and can use a button cell or a lithium ion battery, and a DC/DC converter for stable power supply. And the like.
- the magnetic sensor unit 100 of the present invention is formed in a double structure by attaching two PCBs facing each other.
- the two PCBs are composed of a first PCB 110 and a second PCB 120, which are shown in FIGS. 2 to 4.
- FIG. 2 the dual PCB structure of the magnetic sensor unit 100 is shown in a schematic perspective view, and in FIG. 3, the PCB design cross section of the magnetic sensor unit 100 is shown, and in FIG. 4, an actual prototype of the magnetic sensor unit 100 Shown a picture of.
- a magnetic sensor 130 is fixedly installed on the surface of the first PCB 110.
- a magneto-resistance sensor having less influence from chattering or an external magnetic field is used as the magnetic sensor 130, and a magneto-resistance sensor having a sensitivity of at least 4 mT is used.
- the second PCB 120 is in contact with the cylinder surface of the robot arm, and a notch 121 is formed in a portion of the first PCB 110 corresponding to a position where the magnetic sensor 130 is installed. Is formed.
- the second PCB 120 may be replaced with an apparatus made of ABS resin.
- the raw material is not limited to ABS resin.
- the device may be implemented in the form of a panel having a thin thickness equal to or similar to that of the PCB.
- a mesh pattern 140 for impulse static electricity protection is formed on the surface of the first PCB 110.
- the magnetic sensor module 10 may be damaged by static electricity in the form of ZAP, Latch-Up, and CDM, and in order to prevent this, in the present invention, the surface of the first PCB 110 to which the magnetic sensor 130 is attached.
- the mesh pattern 140 is formed using a conductive metal or the like on portions other than the signal line. By such a mesh pattern 140, it is possible to protect against broadband noise in the form of an impulse by electrostatic discharge (ESD).
- a mark 150 indicating the position of the magnetic sensor 130 is displayed (FIG. 3 is Since the front surface of the first PCB 110 is shown, the mark is shown by a dotted line (see Fig. 4 for a display form of the actual mark 150).
- the user can accurately determine the position of the sensor, so that the magnetic sensor module 10 can be accurately fastened to a desired position in the cylinder.
- a plurality of PCB attachment fixing surfaces 122 are formed on the second PCB 120 to be attached to the first PCB 110.
- FIG. 4 shows a photograph of a prototype of the magnetic sensor unit 110 of the present invention, one surface of the first PCB 110 in the upper photograph, and one surface of the second PCB 120 in the lower photograph. From FIG. 4, it can be seen that the first and second PCBs 110 and 120 facing each other are attached and formed in a double structure. Such a double-structured PCB may be fastened to the cylinder using a metal band or the like, and the operating state of the piston in the cylinder is sensed through the magnetic sensor 130 exposed to the outside.
- the ground PAD surface of the main chipset of the wireless communication unit 200 is divided and attached.
- the effect of impact dispersion can be improved.
- the wireless communication unit 200 wirelessly transmits a signal detected from the magnetic sensor unit 100, and controls the cylinder.
- the system etc. will receive it.
- a problem of lowering a reception success rate may occur due to collision of transmission data. .
- the wireless communication unit 200 packetizes the signal detected from the magnetic sensor unit 100 and repeatedly transmits it at a random period. If the transmission time of one packet is about 640 ⁇ s, the transmission rate is 500 kbps, and the transmission byte is 40 bytes, it is possible to transmit about 1500 times per second.
- the data packet is repeatedly transmitted 5 or more times, with the transmission time t of all packets being 1 sec or less and the random period t1 to t5, for example.
- the wireless magnetic sensor module of the present invention described above may be optimally applied to a cylinder of a robot arm, but is not limited thereto, and may be appropriately applied to a case where an operation state or position of various mechanical devices is to be detected by a sensor.
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- Condensed Matter Physics & Semiconductors (AREA)
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- Computer Networks & Wireless Communication (AREA)
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Abstract
The present invention relates to a wireless magnetic sensor module comprising: a magnetic sensor unit for detecting a movement state or position of an object; and a wireless communication unit for receiving a signal detected by the magnetic sensor unit and wirelessly transmits the received signal, wherein the magnetic sensor unit has a double structure in which first and second PCBs facing each other are attached, and a mesh pattern for static electricity protection is formed on the surface of the first PCB, thereby achieving minimization of the module and protection of the module from external impact and static electricity.
Description
본 발명은 무선 자기센서에 관한 것으로서, 특히 로봇 암의 실린더에서 피스톤의 작동 위치나 이동 위치를 감지하고, 이를 무선으로 송출할 수 있는 무선 자기센서 모듈에 관한 것이다.The present invention relates to a wireless magnetic sensor, and more particularly, to a wireless magnetic sensor module capable of detecting an operating position or a moving position of a piston in a cylinder of a robot arm and transmitting it wirelessly.
자동차의 조립 공정 등에 사용되는 로봇 암에는 공기압 실린더나 유압 실린더와 같은 각종 실린더가 구비되어 있으며, 이러한 실린더의 동작을 감지 및 제어하기 위해 자기센서가 많이 사용되고 있다.Various cylinders such as pneumatic cylinders and hydraulic cylinders are provided in robot arms used in the assembly process of automobiles, and magnetic sensors are widely used to detect and control the motion of such cylinders.
상기한 실린더에서 피스톤의 이동 상태나 이동 위치 및 스트로크(stroke) 등을 감지하고 제어하기 위해, 종래에는 리드 스위치와 같은 자기센서와 유선 접점검출 방식을 많이 사용하였으나, 최근에는 자기저항(magneto resistance) 센서와 같은 무접접 센서와 저전력 무선통신 방식을 많이 사용하고 있다. In order to detect and control the movement state, movement position, and stroke of the piston in the above cylinder, conventionally, a magnetic sensor such as a reed switch and a wired contact detection method have been widely used, but recently, magneto resistance. There are many uses of a non-contact sensor such as a sensor and a low-power wireless communication method.
자기센서를 이용한 시스템의 일례로서, 한국공개특허 제1999-0064441호(특허문헌 1)에 의하면, 무접점 방식의 자기저항 센서를 사용하여 실린더 피스톤 감지스위치를 구성하는 것에 대해 제안하고 있다. 또 다른 일례로서, 한국등록특허 제10-1793209호(특허문헌 2)에 의하면, 사용자 단말을 이용하여 자동차 제조에 사용되는 지그를 원격에서 모니터링하고, 해당 사용자 단말을 이용하여 컨트롤 패널을 제어하는, 무선 자기센서를 이용한 원격 지그 제어 시스템을 제안하고 있다.As an example of a system using a magnetic sensor, according to Korean Patent Publication No. 1999-0064441 (Patent Document 1), it is proposed to configure a cylinder piston detection switch using a non-contact type magnetoresistive sensor. As another example, according to Korean Patent Registration No. 10-1793209 (Patent Document 2), using a user terminal to remotely monitor a jig used in automobile manufacturing, and to control a control panel using the user terminal, A remote jig control system using a wireless magnetic sensor is proposed.
그러나 상기한 종래의 자기센서를 이용한 장치들은, 자기센서 모듈의 크기가 커서 다양한 종류의 실린더에 설치하기가 곤란하였고, 외부 충격이나 장비에서 발생하는 정전기로부터의 보호가 충분하지 않았다. 특히, 자동차 조립공정에 필수적인 전기용접시 발생하는 임펄스노이즈에 의한 ZAP, Latch-Up, CDM(Charge Device model) 형태의 정전기로부터 자기센서 회로를 충분히 보호할 수 없다는 문제점이 있었다. However, the conventional devices using the magnetic sensor described above are difficult to install in various types of cylinders due to the large size of the magnetic sensor module, and the protection from external shocks or static electricity generated from the equipment is not sufficient. In particular, there was a problem in that the magnetic sensor circuit could not be sufficiently protected from static electricity in the form of ZAP, Latch-Up, and CDM (Charge Device Model) caused by impulse noise generated during electric welding, which is essential in the automobile assembly process.
따라서 상기한 종래의 자기센서 모듈에서의 문제점들을 개선하고, 자기센서에서 검출한 데이터의 무선통신 신뢰성도 높일 수 있는, 향상된 구조의 무선 자기센서 모듈을 개발할 필요가 있다. Accordingly, there is a need to develop a wireless magnetic sensor module having an improved structure that can improve the problems in the conventional magnetic sensor module and improve the reliability of wireless communication of data detected by the magnetic sensor.
본 발명의 목적은 소형 및 저비용으로 구성할 수 있고, 외부 충격 및 정전기로부터 안전하게 보호할 수 있는 무선 자기센서 모듈을 제공하고자 하는 것이다.An object of the present invention is to provide a wireless magnetic sensor module that can be configured with a small size and low cost, and that can be safely protected from external shocks and static electricity.
본 발명의 또 다른 목적은 자기센서에 의해 검출된 데이터의 무선통신 신뢰성을 높일 수 있는 무선 자기센서 모듈을 제공하고자 하는 것이다. Another object of the present invention is to provide a wireless magnetic sensor module capable of increasing the reliability of wireless communication of data detected by the magnetic sensor.
상기한 기술적 과제를 해결하기 위해 본 발명에 따른 대상물의 이동 상태나 위치를 검출하는 자기센서부; 상기 자기센서부에서 검출된 신호를 받아 무선으로 송신하는 무선통신부; 및 상기 자기센서부 및 무선통신부에 전원을 공급하는 배터리부를 포함하여 이루어지며, 상기 자기센서부는 서로 대향하는 제1 및 제2 PCB를 부착시켜 이중 구조로 형성되고, 상기 제1 PCB의 표면에는 자기센서가 고정 설치되고, 상기 제2 PCB에서 상기 제1 PCB의 자기센서가 설치된 위치에 대응하는 부분에는 노치부(notch)가 형성되어, 상기 자기센서가 외부로 노출되게 하는 것을 특징으로 하는 무선 자기센서 모듈을 제공한다. Magnetic sensor unit for detecting a moving state or position of an object according to the present invention in order to solve the above technical problem; A wireless communication unit for receiving the signal detected by the magnetic sensor unit and transmitting it wirelessly; And a battery unit supplying power to the magnetic sensor unit and the wireless communication unit, wherein the magnetic sensor unit is formed in a double structure by attaching the first and second PCBs facing each other, and the surface of the first PCB A wireless magnetic field, characterized in that a sensor is fixedly installed, and a notch is formed in a portion of the second PCB corresponding to a position where the magnetic sensor of the first PCB is installed, so that the magnetic sensor is exposed to the outside. Provides a sensor module.
또한, 상기 제1 PCB의 표면에는, 전기 용접시 발생하는 임펄스 노이즈로부터 보호를 위한 메쉬 패턴(mesh pattern)을 형성하는 것이 바람직하다.In addition, it is preferable to form a mesh pattern on the surface of the first PCB for protection from impulse noise generated during electric welding.
또한, 상기 제1 PCB에서 상기 자기센서가 설치된 위치에 대응하는 후면에는, 상기 자기센서의 위치를 나타내는 마크를 표시하는 것이 바람직하다.In addition, it is preferable to display a mark indicating the position of the magnetic sensor on the rear surface corresponding to the position where the magnetic sensor is installed on the first PCB.
또한, 상기 무선통신부의 메인 칩셋(main chipset)에는 실린더 동작시 발생하는 기계적 충격에 의한 솔더링 크랙(soldering crack) 방지를 위한 4면 분할 패드(pad)를 형성하는 것이 바람직하고, 상기 무선통신부 하나에 대해 2개의 자기센서부가 연결되는 것이 바람직하다.In addition, it is preferable to form a four-sided dividing pad on the main chipset of the wireless communication unit to prevent soldering cracks due to mechanical shock generated during cylinder operation. It is preferable that the two magnetic sensor units are connected.
또한, 상기 자기센서는 자기저항(magneto resistance) 센서를 사용하는 것이 바람직하고, 상기 무선통신부는 저전력 블루투스(BLE) 통신을 사용하는 것이 바람직하다.In addition, the magnetic sensor is preferably a magneto-resistance sensor, and the wireless communication unit is preferably a low-power Bluetooth (BLE) communication.
상기한 본 발명의 무선 자기센서 모듈에서, 상기 무선 통신부는 상기 자기센서부로부터 검출된 신호를 패킷화하여 랜덤 주기로 반복 송신하는 것이 바람직하다.In the wireless magnetic sensor module of the present invention described above, it is preferable that the wireless communication unit packetizes the signal detected from the magnetic sensor unit and repeatedly transmits it at random cycles.
또한, 본 발명은 대상물의 이동 상태나 위치를 검출하는 자기센서부; 상기 자기센서부에서 검출된 신호를 받아 무선으로 송신하는 무선통신부; 및 상기 자기센서부 및 무선통신부에 전원을 공급하는 배터리부를 포함하여 이루어지며, 상기 자기센서부는 서로 대향하는 PCB와 PCB가 아닌 기구물을 부착시켜 이중 구조로 형성되고, 상기 PCB의 표면에는 자기센서가 고정 설치되고, 상기 PCB가 아닌 기구물에서 상기 PCB의 자기센서가 설치된 위치에 대응하는 부분에는 노치부(notch)가 형성되어, 상기 자기센서가 외부로 노출되게 하는 것을 특징으로 하는 무선 자기센서 모듈을 제공한다. In addition, the present invention is a magnetic sensor unit for detecting the movement state or position of the object; A wireless communication unit for receiving the signal detected by the magnetic sensor unit and transmitting it wirelessly; And a battery unit for supplying power to the magnetic sensor unit and the wireless communication unit, wherein the magnetic sensor unit is formed in a double structure by attaching a PCB and a non-PCB device facing each other, and a magnetic sensor is provided on the surface of the PCB. A wireless magnetic sensor module, characterized in that a notch is formed in a portion of the fixture other than the PCB that corresponds to the position where the magnetic sensor of the PCB is installed, so that the magnetic sensor is exposed to the outside. to provide.
본 발명의 무선 자기센서 모듈에 의하면 다음과 같은 효과를 기대할 수 있다.According to the wireless magnetic sensor module of the present invention, the following effects can be expected.
첫째, 자기센서부를 이중 PCB의 박형 구조로 형성하고, 하나의 무선통신부에 2개의 자기센서부를 연결함으로써, 모듈을 소형화할 수 있고 제조비용을 절감할 수 있다.First, by forming the magnetic sensor unit in a thin structure of a double PCB and connecting two magnetic sensor units to one wireless communication unit, the module can be miniaturized and manufacturing cost can be reduced.
둘째, 자기센서부의 표면에 메쉬 패턴을 형성함으로써, CDM 등과 같은 임펄스성 정전기로부터 센서 모듈을 보호할 수 있다. Second, by forming a mesh pattern on the surface of the magnetic sensor unit, it is possible to protect the sensor module from impulsive static electricity such as CDM.
셋째, 자기센서부에 센서의 위치를 나타내는 마크를 표시함으로써, 모듈의 양면 모두에서 센서의 부착 위치를 용이하게 파악할 수 있다.Third, by displaying the mark indicating the position of the sensor on the magnetic sensor unit, it is possible to easily grasp the attachment position of the sensor on both sides of the module.
넷째, 메인 칩셋의 표면에 충격 방지용 4면 분할 패드를 부착함으로써, 솔더링 크랙을 방지할 수 있다.Fourth, by attaching a four-sided split pad for preventing impact on the surface of the main chipset, it is possible to prevent soldering cracks.
다섯째, 자기센서부가 검출한 데이터를 패킷화하여 랜덤 주기로 반복해서 송신함으로써, 다수의 무선통신부가 동시에 통신하는 경우에도 데이터 수신율을 높일 수 있다. Fifth, by packetizing the data detected by the magnetic sensor unit and repeatedly transmitting the data at random periods, the data reception rate can be increased even when a plurality of wireless communication units communicate simultaneously.
여섯째, 하나의 PCB를 기구물로 전환함으로써 두개의 PCB를 조합하는 것에 비하여 조립성(조합성), 양산성의 개선이 가능하다. 일방이 PCB인 경우와 양방이 모두 PCB인 경우는 조립에 기울여야 할 주의 수준이 다르다. 따라서 양산성도 달라진다.Sixth, by converting one PCB into a device, it is possible to improve assembly (combination) and mass production as compared to combining two PCBs. When one side is a PCB and both sides are a PCB, the level of attention to be paid to assembly is different. Therefore, the mass productivity is also different.
도 1은 본 발명의 실시예에 따른 무선 자기센서 모듈의 구성을 개략적으로 나타낸다.1 schematically shows the configuration of a wireless magnetic sensor module according to an embodiment of the present invention.
도 2는 본 발명의 실시예에 따른 무선 자기센서 모듈에서, 자기센서부의 이중 PCB 구조를 개략적으로 나타낸다.2 schematically shows a dual PCB structure of a magnetic sensor unit in a wireless magnetic sensor module according to an embodiment of the present invention.
도 3은 본 발명의 실시예에 따른 무선 자기센서 모듈에서, 자기센서부의 PCB 설계 단면을 나타낸다.3 is a cross-sectional view illustrating a PCB design of a magnetic sensor unit in a wireless magnetic sensor module according to an embodiment of the present invention.
도 4는 본 발명의 실시예에 따른 무선 자기센서 모듈에서, 자기센서부(100)의 실제 시제품의 사진을 나타낸다.4 shows a photograph of an actual prototype of the magnetic sensor unit 100 in the wireless magnetic sensor module according to an embodiment of the present invention.
도 5는 본 발명의 실시예에 따른 무선 자기센서 모듈에서, 메인 칩셋에 부착된 4면 분할 패드를 나타낸다.5 shows a four-sided split pad attached to a main chipset in the wireless magnetic sensor module according to an embodiment of the present invention.
도 6은 본 발명의 실시예에 따른 무선 자기센서 모듈에서, 데이터를 패킷화하여 랜덤 주기로 반복 송신하는 것을 나타낸다.6 is a diagram illustrating packetization of data in a wireless magnetic sensor module according to an embodiment of the present invention and repetitive transmission at a random period.
이하, 첨부한 도면을 참고하여 본 발명의 바람직한 실시예에 대해 설명한다.Hereinafter, a preferred embodiment of the present invention will be described with reference to the accompanying drawings.
본 발명은 로봇 암 등에 사용되는 실린더에서 피스톤의 이동 상태나 이동 위치 등을 자기센서로 검출하고, 검출된 신호를 무선으로 송신하는 무선 자기센서 모듈로서, 도 1에 개략적인 구성도를 블록도로 나타내었다.The present invention is a wireless magnetic sensor module for detecting a moving state or moving position of a piston in a cylinder used for a robot arm with a magnetic sensor and transmitting the detected signal wirelessly. I got it.
도 1에 나타낸 바와 같이, 본 발명의 무선 자기센서 모듈(10)은 자기센서부(100), 무선통신부(200) 및 배터리부(300)로 구성된다.As shown in FIG. 1, the wireless magnetic sensor module 10 of the present invention includes a magnetic sensor unit 100, a wireless communication unit 200, and a battery unit 300.
자기센서부(100)는 실린더의 피스톤과 같이 이동하는 대상물의 이동 상태나 위치를 검출하고, 검출된 신호를 무선통신부(200)로 보낸다. 본 발명의 실시예에서는 하나의 무선통신부(200)에 대해 2개의 자기센서부(100)를 연결하여 사용함으로써, 무선 자기센서 모듈(10)의 소형화 및 비용 절감을 구현할 수 있다.The magnetic sensor unit 100 detects a moving state or position of a moving object, such as a piston of a cylinder, and transmits the detected signal to the wireless communication unit 200. In an embodiment of the present invention, by connecting and using two magnetic sensor units 100 to one wireless communication unit 200, miniaturization and cost reduction of the wireless magnetic sensor module 10 can be realized.
무선통신부(200)는 자기센서부(100)로부터 검출된 신호를 외부시스템에 무선으로 송신하는 기능을 하는 통신 회로로 구성되며, 지그비(ZigBee), 와이파이(WiFi), 저전력 블루투스(BLE: Bluetooth Low Energy)와 같은 무선통신 방식을 사용할 수 있다. 본 실시예에서는 BLE를 사용하여 무선통신부(200)를 구성하였다. The wireless communication unit 200 is composed of a communication circuit that functions to wirelessly transmit a signal detected from the magnetic sensor unit 100 to an external system, and includes ZigBee, WiFi, and Bluetooth Low Energy (BLE). Energy) can be used. In this embodiment, the wireless communication unit 200 is configured using BLE.
다음으로, 배터리부(300)는 자기센서부(100) 및 무선통신부(200)에 전원을 공급하는 것으로서, 버튼식 셀이나 리튬이온 배터리 등을 사용할 수 있으며, 안정적인 전원 공급을 위해 DC/DC 컨버터 등을 포함할 수 있다.Next, the battery unit 300 supplies power to the magnetic sensor unit 100 and the wireless communication unit 200, and can use a button cell or a lithium ion battery, and a DC/DC converter for stable power supply. And the like.
본 발명의 자기센서부(100)는 서로 대향하는 2매의 PCB를 부착시켜 이중 구조로 형성된다. 2매의 PCB는 제1 PCB(110) 및 제2 PCB(120)로 구성되며, 이를 도 2 내지 도 4에 나타내었다. 도 2에서는 자기센서부(100)의 이중 PCB 구조를 개략적인 사시도로 나타내었고, 도 3에서는 자기센서부(100)의 PCB 설계 단면을 나타내었으며, 도 4에서는 자기센서부(100)의 실제 시제품의 사진을 나타내었다. The magnetic sensor unit 100 of the present invention is formed in a double structure by attaching two PCBs facing each other. The two PCBs are composed of a first PCB 110 and a second PCB 120, which are shown in FIGS. 2 to 4. In FIG. 2, the dual PCB structure of the magnetic sensor unit 100 is shown in a schematic perspective view, and in FIG. 3, the PCB design cross section of the magnetic sensor unit 100 is shown, and in FIG. 4, an actual prototype of the magnetic sensor unit 100 Shown a picture of.
먼저, 도 2에 나타낸 바와 같이, 제1 PCB(110)의 표면에는 자기센서(130)가 고정 설치된다. 본 실시예에서는 자기센서(130)로서 채터링이나 외부 자계의 영향이 적은 자기저항(magneto resistance) 센서를 채용하였으며, 최소 4mT 이상의 감도를 갖는 자기저항센서를 사용하였다. First, as shown in FIG. 2, a magnetic sensor 130 is fixedly installed on the surface of the first PCB 110. In this embodiment, a magneto-resistance sensor having less influence from chattering or an external magnetic field is used as the magnetic sensor 130, and a magneto-resistance sensor having a sensitivity of at least 4 mT is used.
또한, 제2 PCB(120)는 일면이 로봇 암의 실린더 표면에 접촉하게 되고, 제1 PCB(110)의 자기센서(130)가 설치된 위치에 대응하는 부분에 노치부(notch)(121)가 형성되어 있다. 이와 같이, 제2 PCB(120)의 일부가 노치 형태로 제거됨으로써, 자기센서(130)가 외부로 노출되어 실린더에 근접할 수 있으므로, 자계 감지의 효율을 높일 수 있다. 본 실시예와는 달리, 제2 PCB(120)는 ABS 수지로 만든 기구물로 대체할 수도 있다. 단, 이와 같은 기구물로 대체할 때 원료는 ABS 수지로 제한되는 것은 아니다. 아울러, 바람직하게는 상기 기구물은 PCB와 동일하거나 유사한 수준의 얇은 두께를 갖는 패널형태로 구현될 수 있다. In addition, one side of the second PCB 120 is in contact with the cylinder surface of the robot arm, and a notch 121 is formed in a portion of the first PCB 110 corresponding to a position where the magnetic sensor 130 is installed. Is formed. In this way, since a part of the second PCB 120 is removed in a notch shape, the magnetic sensor 130 may be exposed to the outside and may be close to the cylinder, thereby increasing the efficiency of magnetic field detection. Unlike this embodiment, the second PCB 120 may be replaced with an apparatus made of ABS resin. However, when replacing with such a device, the raw material is not limited to ABS resin. In addition, preferably, the device may be implemented in the form of a panel having a thin thickness equal to or similar to that of the PCB.
한편, 도 3에 나타낸 바와 같이, 제1 PCB(110)의 표면에는 임펄스 정전기 보호를 위한 메쉬 패턴(mesh pattern)(140)이 형성된다. 자기센서 모듈(10)은 ZAP, Latch-Up, CDM과 같은 형태의 정전기에 의한 손상을 받을 수 있으며, 이를 방지하기 위해 본 발명에서는 자기센서(130)가 부착된 제1 PCB(110)의 표면에서, 신호선을 제외한 부분에 도전성 금속 등을 이용하여 메쉬 패턴(140)을 형성하고 있다. 이와 같은 메쉬 패턴(140)에 의해, ESD(Electro Static Discharge)에 의한 임펄스 형태의 광대역 노이즈로부터의 보호도 가능하게 된다.Meanwhile, as shown in FIG. 3, a mesh pattern 140 for impulse static electricity protection is formed on the surface of the first PCB 110. The magnetic sensor module 10 may be damaged by static electricity in the form of ZAP, Latch-Up, and CDM, and in order to prevent this, in the present invention, the surface of the first PCB 110 to which the magnetic sensor 130 is attached. In, the mesh pattern 140 is formed using a conductive metal or the like on portions other than the signal line. By such a mesh pattern 140, it is possible to protect against broadband noise in the form of an impulse by electrostatic discharge (ESD).
또한, 도 3에 나타낸 바와 같이, 제1 PCB(110)에서 자기센서(130)가 설치된 위치에 대응하는 후면에는, 자기센서(130)의 위치를 나타내는 마크(150)가 표시된다 (도 3은 제1 PCB(110)의 전면을 도시하고 있으므로 마크를 점선으로 도시함. 실제 마크(150)의 표시 형태는 도 4 참조). 이와 같이, 제1 PCB(110)의 후면에 자기센서(130)의 위치를 표시함으로써 사용자가 센서의 위치를 정확히 파악할 수 있으므로, 자기센서 모듈(10)을 실린더에서 정확히 원하는 위치에 체결할 수 있다. 또한, 제2 PCB(120)에는 다수의 PCB 부착 고정면(122)이 형성되어 제1 PCB(110)와 부착된다. In addition, as shown in FIG. 3, on the rear surface corresponding to the position where the magnetic sensor 130 is installed in the first PCB 110, a mark 150 indicating the position of the magnetic sensor 130 is displayed (FIG. 3 is Since the front surface of the first PCB 110 is shown, the mark is shown by a dotted line (see Fig. 4 for a display form of the actual mark 150). In this way, by displaying the position of the magnetic sensor 130 on the rear side of the first PCB 110, the user can accurately determine the position of the sensor, so that the magnetic sensor module 10 can be accurately fastened to a desired position in the cylinder. . In addition, a plurality of PCB attachment fixing surfaces 122 are formed on the second PCB 120 to be attached to the first PCB 110.
도 4에 본 발명의 자기센서부(110)의 시제품 사진을 나타내었으며, 상단 사진에서는 제1 PCB(110)의 일면을, 하단 사진에서는 제2 PCB(120)의 일면을 확인할 수 있다. 도 4로부터, 서로 대향하는 제1 및 제2 PCB(110, 120)가 이중 구조로 부착 형성된 것을 알 수 있다. 이러한 이중 구조의 PCB는 메탈 밴드(metal band) 등을 이용하여 실린더에 체결될 수 있으며, 외부로 노출된 자기센서(130)를 통해 실린더 내의 피스톤의 동작 상태를 감지하게 된다.4 shows a photograph of a prototype of the magnetic sensor unit 110 of the present invention, one surface of the first PCB 110 in the upper photograph, and one surface of the second PCB 120 in the lower photograph. From FIG. 4, it can be seen that the first and second PCBs 110 and 120 facing each other are attached and formed in a double structure. Such a double-structured PCB may be fastened to the cylinder using a metal band or the like, and the operating state of the piston in the cylinder is sensed through the magnetic sensor 130 exposed to the outside.
한편, 무선 자기센서 모듈(10)은 실린더의 진동 등으로 인하여 센서에 충격이 가해질 수 있으며, 이에 따라 솔더링 크랙(soldering clack)이 발생할 수 있다. 따라서 본 발명에서는 무선통신부(200)의 메인 칩셋(main chipset)의 Ground PAD면을 분할하여 부착한다. 특히, 도 5에 나타낸 바와 같이, 4면 분할 패드(160)를 채용함으로써, 충격 분산의 효과를 향상시킬 수 있다.Meanwhile, in the wireless magnetic sensor module 10, an impact may be applied to the sensor due to vibration of the cylinder, and thus a soldering clack may occur. Therefore, in the present invention, the ground PAD surface of the main chipset of the wireless communication unit 200 is divided and attached. In particular, as shown in Fig. 5, by employing the four-sided dividing pad 160, the effect of impact dispersion can be improved.
상기한 도 1 내지 도 5에서 설명한 본 발명의 실시예에 따른 무선 자기센서 모듈(10)에서, 무선 통신부(200)는 자기센서부(100)로부터 검출된 신호를 무선으로 송신하고, 실린더의 제어시스템 등이 이를 수신하게 된다. 이때, 다수의 무선 자기센서 모듈(10)이 동시에 동작하는 경우, 즉 다수의 무선통신부(200)가 동시에 검출 데이터를 송신하는 경우, 송신 데이터의 충돌로 인하여 수신 성공률이 낮아지는 문제가 발생할 수 있다. In the wireless magnetic sensor module 10 according to the embodiment of the present invention described in FIGS. 1 to 5 described above, the wireless communication unit 200 wirelessly transmits a signal detected from the magnetic sensor unit 100, and controls the cylinder. The system etc. will receive it. At this time, when a plurality of wireless magnetic sensor modules 10 operate at the same time, that is, when a plurality of wireless communication units 200 simultaneously transmit detection data, a problem of lowering a reception success rate may occur due to collision of transmission data. .
본 발명에서는 이를 해결하기 위해, 무선 통신부는(200)가 자기센서부(100)로부터 검출된 신호를 패킷화하여 랜덤 주기로 반복해서 송신한다. 1패킷의 전송 시간을 약 640㎲, 전송 속도를 500kbps, 전송 바이트를 40bytes로 하면, 1초에 약 1500번의 반복 송신이 가능하게 된다. In the present invention, in order to solve this problem, the wireless communication unit 200 packetizes the signal detected from the magnetic sensor unit 100 and repeatedly transmits it at a random period. If the transmission time of one packet is about 640 μs, the transmission rate is 500 kbps, and the transmission byte is 40 bytes, it is possible to transmit about 1500 times per second.
본 실시예에서는, 도 6에 나타낸 바와 같이, 예를 들어 전체 패킷의 전송 시간(t)을 1sec 이하로 하고, 랜덤 주기를 t1 ~ t5로 하여, 데이터 패킷을 5회 이상 반복 송신한다. 이와 같이 데이터를 패킷화하여 랜덤 주기로 반복 송신함으로써, 데이터 수신율이 높아져서 무선 자기센서 모듈의 통신 신뢰성을 높일 수 있다. In this embodiment, as shown in Fig. 6, the data packet is repeatedly transmitted 5 or more times, with the transmission time t of all packets being 1 sec or less and the random period t1 to t5, for example. By packetizing data in this way and repeatedly transmitting at random cycles, the data reception rate is increased, and communication reliability of the wireless magnetic sensor module can be improved.
이상 설명한 본 발명의 무선 자기센서 모듈은 로봇 암의 실린더 등에 최적으로 적용할 수 있으나 이에 한정되는 것은 아니며, 각종 기계 장치의 동작 상태나 위치를 센서로 검출하고자 하는 경우에 적절히 적용할 수 있을 것이다. The wireless magnetic sensor module of the present invention described above may be optimally applied to a cylinder of a robot arm, but is not limited thereto, and may be appropriately applied to a case where an operation state or position of various mechanical devices is to be detected by a sensor.
본 발명은 상기한 바람직한 실시예와 첨부한 도면을 참조하여 설명되었지만, 본 발명의 사상 및 범위 내에서 상이한 실시예를 구성할 수도 있다. 따라서 본 발명의 범위는 첨부된 청구범위에 의해 정해지며, 본 명세서에 기재된 특정 실시예에 의해 한정되지 않는 것으로 해석되어야 한다.Although the present invention has been described with reference to the above-described preferred embodiments and the accompanying drawings, different embodiments may be configured within the spirit and scope of the present invention. Accordingly, the scope of the present invention is defined by the appended claims, and should be construed as not limited by the specific embodiments described herein.
Claims (9)
- 대상물의 이동 상태나 위치를 검출하는 자기센서부; A magnetic sensor unit that detects a moving state or position of an object;상기 자기센서부에서 검출된 신호를 받아 무선으로 송신하는 무선통신부; 및A wireless communication unit for receiving the signal detected by the magnetic sensor unit and transmitting it wirelessly; And상기 자기센서부 및 무선통신부에 전원을 공급하는 배터리부를 포함하여 이루어지며,It comprises a battery unit for supplying power to the magnetic sensor unit and the wireless communication unit,상기 자기센서부는The magnetic sensor unit서로 대향하는 제1 및 제2 PCB를 부착시켜 이중 구조로 형성되고,It is formed in a double structure by attaching the first and second PCBs facing each other,상기 무선통신부의 메인 칩셋(main chipset)에는 실린더 동작시 발생하는 기계적 충격에 의한 솔더링 크랙(soldering crack) 방지를 위하여 그라운드 패드(Ground PAD)면을 분할하여 부착한 것을 특징으로 하는 무선 자기센서 모듈.A wireless magnetic sensor module, characterized in that a ground pad surface is divided and attached to the main chipset of the wireless communication unit in order to prevent soldering cracks due to mechanical shock generated during cylinder operation.
- 청구항 1에 있어서,The method according to claim 1,상기 제1 PCB의 표면에는, 전기 용접시 발생하는 임펄스 노이즈로부터의 보호를 위한 메쉬 패턴(mesh pattern)이 형성되어 있는 것을 특징으로 하는 무선 자기센서 모듈. A wireless magnetic sensor module, characterized in that a mesh pattern for protection from impulse noise generated during electric welding is formed on the surface of the first PCB.
- 청구항 1에 있어서,The method according to claim 1,상기 제1 PCB에서 상기 자기센서가 설치된 위치에 대응하는 후면에는, 상기 자기센서의 위치를 나타내는 마크가 표시되어 있는 것을 특징으로 하는 무선 자기센서 모듈. A wireless magnetic sensor module, characterized in that a mark indicating the position of the magnetic sensor is displayed on a rear surface corresponding to the position where the magnetic sensor is installed on the first PCB.
- 청구항 1에 있어서, The method according to claim 1,상기 제1 PCB의 표면에는 자기센서가 고정 설치되고, A magnetic sensor is fixedly installed on the surface of the first PCB,상기 제2 PCB에서 상기 제1 PCB의 자기센서가 설치된 위치에 대응하는 부분에는 노치부(notch)가 형성되어, 상기 자기센서가 외부로 노출되게 하는 것을 특징으로 하는 무선 자기센서 모듈. A wireless magnetic sensor module, characterized in that a notch is formed in a portion of the second PCB corresponding to a position where the magnetic sensor of the first PCB is installed, so that the magnetic sensor is exposed to the outside.
- 청구항 1에 있어서, The method according to claim 1,상기 무선통신부 하나에 대해, 2개의 자기센서부가 연결되어 있는 것을 특징으로 하는 무선 자기센서 모듈. A wireless magnetic sensor module, characterized in that two magnetic sensor units are connected to one of the wireless communication units.
- 청구항 1에 있어서, The method according to claim 1,상기 자기센서는 자기저항(magneto resistance) 센서인 것을 특징으로 하는 무선 자기센서 모듈. The magnetic sensor is a wireless magnetic sensor module, characterized in that the magneto-resistance (magneto resistance) sensor.
- 청구항 1에 있어서,The method according to claim 1,상기 무선 통신부는 저전력 블루투스(BLE) 통신을 실행하는 것을 특징으로 하는 것을 특징으로 하는 무선 자기센서 모듈. The wireless communication unit is a wireless magnetic sensor module, characterized in that for performing low-power Bluetooth (BLE) communication.
- 청구항 1 내지 청구항 7 중 어느 한 항에 있어서,The method according to any one of claims 1 to 7,상기 무선 통신부는 상기 자기센서부로부터 검출된 신호를 패킷화하여 랜덤 주기로 반복해서 송신하는 것을 특징으로 하는 무선 자기센서 모듈.The wireless magnetic sensor module, characterized in that the wireless communication unit packetizes the signal detected from the magnetic sensor unit and repeatedly transmits it at a random period.
- 대상물의 이동 상태나 위치를 검출하는 자기센서부; A magnetic sensor unit that detects a moving state or position of an object;상기 자기센서부에서 검출된 신호를 받아 무선으로 송신하는 무선통신부; 및A wireless communication unit for receiving the signal detected by the magnetic sensor unit and transmitting it wirelessly; And상기 자기센서부 및 무선통신부에 전원을 공급하는 배터리부를 포함하여 이루어지며,It comprises a battery unit for supplying power to the magnetic sensor unit and the wireless communication unit,상기 자기센서부는The magnetic sensor unit서로 대향하는 PCB와 PCB가 아닌 기구물을 부착시켜 이중 구조로 형성되고,It is formed in a double structure by attaching the PCB and non-PCB devices facing each other,상기 무선통신부의 메인 칩셋(main chipset)에는 실린더 동작시 발생하는 기계적 충격에 의한 솔더링 크랙(soldering crack) 방지를 위하여 그라운드 패드(Ground PAD)면을 분할하여 부착한 것을 특징으로 하는 무선 자기센서 모듈.A wireless magnetic sensor module, characterized in that a ground pad surface is divided and attached to the main chipset of the wireless communication unit in order to prevent soldering cracks due to mechanical shocks generated during cylinder operation.
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KR20070008009A (en) * | 2005-07-12 | 2007-01-17 | 삼성전자주식회사 | Tape distribution substrate with emi-improved pattern |
KR20080096003A (en) * | 2007-04-26 | 2008-10-30 | 에스앤티대우(주) | Sensor module for detecting relative displacement and method of detecting moving direction using the same |
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